
@article{madsen1999methods,
  title={Methods for non-linear least squares problems},
  author={Madsen, Kaj and Nielsen, Hans Bruun and Tingleff, Ole},
  year={1999}
}

@book{Hartley:2003:MVG:861369,
 author = {Hartley, Richard and Zisserman, Andrew},
 title = {Multiple View Geometry in Computer Vision},
 year = {2003},
 isbn = {0521540518},
 edition = {2},
 publisher = {Cambridge University Press},
 address = {New York, NY, USA},
} 
